{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "from scipy.spatial.transform import Rotation as R "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[ 1.00000000e+00,  0.00000000e+00,  0.00000000e+00],\n",
       "       [ 0.00000000e+00,  2.22044605e-16, -1.00000000e+00],\n",
       "       [ 0.00000000e+00,  1.00000000e+00,  2.22044605e-16]])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "r = R.from_euler('x', 90, degrees=True).as_matrix()\n",
    "r"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3.8.12 ('tftorch')",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.12"
  },
  "orig_nbformat": 4,
  "vscode": {
   "interpreter": {
    "hash": "49392358061de69c353098f25d40d84850d9a894aad989afedb5c9a02f15f84b"
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
